In this paper a mathematical description of a traction electric motor for a mine electric locomotive which takes into account skidding effect as a difference between linear speeds of wheel pairs and linear speed of locomotive is proposed. Obtained mathematical description enables to synthesize the PI-control which compensates the skidding effect and gives ability to carry out an optimal motion. This control scheme is implemented by means of low pass filter, band-pass filter and absolute value calculator.
展开▼
